Place all of the ingredients except for the baking soda and egg yolks in a medium sized pot (where the milk only comes up 1/3 of the way) over medium high heat. Stirring ocassionally with a whisk, bring the milk mixture to a boil;

Add the baking soda once it has reached a boil and reduce to medium heat and continue to simmer the mixture for another 5-10 minutes;

Remove the pot from the heat and in a small bowl with the egg yolks, whisk in a little bit of the milk mixture to temper the eggs;

Slowly add a little more of the milk mixture to the eggs and then place all of the egg mixture in the pot, continuing to whisk the mixture to not cook the eggs;

Place the pot back on stove on medium-low heat and continue to cook until the mixture becomes a nice golden color (another 10-20 minutes). Make sure to stir occassionally and reduce heat if necessary;

Remove pot from the heat and place the mixture in a bowl with plastic wrap immediately in the fridge;

Allow the mixture to cool completely for 3 hours or so;

Once completely cool, place in your ice cream machine and churn according to manufacturer's instructions;

Remove from ice cream machine and place in an ice cream container in the freezer for 3-4 hours or overnight until it is the right consistency; and